CN108762278A - A kind of positioning system and method suitable for track machine people - Google Patents
A kind of positioning system and method suitable for track machine people Download PDFInfo
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- CN108762278A CN108762278A CN201810594133.4A CN201810594133A CN108762278A CN 108762278 A CN108762278 A CN 108762278A CN 201810594133 A CN201810594133 A CN 201810594133A CN 108762278 A CN108762278 A CN 108762278A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000013459 approach Methods 0.000 claims abstract description 39
- 230000004807 localization Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000012937 correction Methods 0.000 abstract description 10
- 238000006073 displacement reaction Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 231100001261 hazardous Toxicity 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
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- 235000007164 Oryza sativa Nutrition 0.000 description 1
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- 230000001419 dependent effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a kind of positioning systems and method suitable for track machine people, and when capacitive approach switch passes through a protruding part, RFID reader reads the label information of RF tag, and the label information is transferred to processor.By cooperating for capacitive approach switch and protruding part, the time precision that RFID reader reads label information is improved.RF tag position in orbit is fixed, and the actual distance value of track machine people movement can be obtained according to the label information；Can calculate the displacement distance of track machine people according to mileage value, therefore, processor according to the corresponding actual distance value of label information and with the mileage value under the label information synchronization, corresponding deviation can be calculated.Mileage value is to determine an important factor for track machine people's location information, is adjusted to the mileage value that incremental encoder records according to deviation, the correction to track machine people's location information may be implemented.
Description
Technical field
The present invention relates to robot localization technical fields, more particularly to a kind of positioning system suitable for track machine people
And method.
Background technology
Rail mounted robot is a robot dependent on track travel.Track machine man-hour, it is necessary to very accurate
Know oneself the location of information, in order to make corresponding operation according to the location information.
The use of odometer localization method is a kind of important relative positioning method, it belongs to dead reckoning, is unknown ring
The main method that robot navigation positions in border, odometer localization method can simplify the basic problem of determining pose, without outside
Sensor information realizes the estimation to robot location and direction, and this method is simple, keeps robot system installation cost low, is easy
Realize real-time sex work.
In in-orbit pipeline robot navigation procedure, it is very crucial to provide relatively accurate odometer information, is follow-up many works
The basis of work, thus when it is tested need to ensure no grave error or deviation.But during actual location,
Due to driving wheel skidding and the influence of various errors, there are errors for the location information of acquisition, and in the prior art not
There is larger error so as to cause the positioning of track machine people in effective error correction scheme.
As it can be seen that how to realize the correction to track machine people's location information, to ensure the accuracy of track machine people positioning,
It is those skilled in the art's urgent problem to be solved.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of positioning system and method suitable for track machine people, may be implemented
Correction to track machine people's location information, to ensure the accuracy of track machine people positioning.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of positioning system suitable for track machine people, packet
The protruding part being set on track predeterminated position, RF tag corresponding with each protruding part are included, institute is set to
State incremental encoder on track machine people, capacitive approach switch, processor and with the capacitive approach switch and
The RFID reader of the processor connection；
When the capacitive approach switch passes through the protruding part, the RFID reader reads the RF tag
Label information, and the label information is transferred to the processor；
The processor is used for according to the corresponding actual distance value of the label information and with the label information with for the moment
The mileage value inscribed calculates corresponding deviation, and the mileage recorded to the incremental encoder according to the deviation
Value is adjusted.
Optionally, the incremental encoder is set on the driven wheel of the track machine people.
Optionally, further include wifi module；
When the processor detects that the deviation is more than predetermined threshold value, then by the wifi module to target device
Send prompt message.
Optionally, the processor is additionally operable to judge the RFID reader transmission whether is received in preset time
Label information；If it is not, then sending service information to the target device by wifi module.
Optionally, the processor is additionally operable to detect whether to get the mileage of the incremental encoder record
Value；If it is not, then sending the prompt message that the incremental encoder damages to the target device by wifi module.
The embodiment of the present invention additionally provides a kind of localization method suitable for track machine people, including：
When capacitive approach switch passes through the protruding part being set on track predeterminated position, obtains RFID reader and pass
Defeated label information；
According to the corresponding actual distance value of the label information and with the mileage value under the label information synchronization, meter
Calculate corresponding deviation；
The mileage value that incremental encoder records is adjusted according to the deviation.
Optionally, it is described according to the corresponding actual distance value of the label information and under the label information synchronization
Mileage value, calculating corresponding deviation includes：
According to pre-stored parameter information, the mileage value is converted into moving distance value；
The correspondence for inquiring pre-stored label information and distance value, it is corresponding with the label information to obtain
Actual distance value；
Using the moving distance value and the actual distance value, the deviation is calculated.
Optionally, further include：
When detecting that the deviation is more than predetermined threshold value, prompt message is sent to target device by wifi module.
Optionally, further include：
Judge the label information that the RFID reader transmits whether is received in preset time；
If it is not, then sending service information to target device by wifi module.
Optionally, further include：
It detects whether that the mileage value that the incremental encoder records can be got；
If it is not, then sending the prompt message that the incremental encoder damages to target device by wifi module.
It can be seen from above-mentioned technical proposal position is preset including being set to track suitable for the positioning system of track machine people
RF tag, the RF tag corresponding with each protruding part set, the increasing being set on the track machine people
It amount formula encoder, capacitive approach switch, processor and connect with the capacitive approach switch and the processor
RFID reader；When capacitive approach switch passes through a protruding part, capacitive approach switch is switched on, and RFID is read at this time
It writes device to start to read the label information of RF tag corresponding with the protruding part, and the label information is transferred to the place
Manage device.By cooperating for capacitive approach switch and protruding part, the reading opportunity of RFID reader is controlled, reading is improved
The time precision for taking label information ensure that track machine people is just to read the position at the position where reaching the protruding part
Set corresponding label information.RF tag position in orbit is fixed, and track machine can be obtained according to the label information
The actual distance value of device people movement；Being set to incremental encoder on track machine people can real-time track record robot
Mileage value can calculate the displacement distance of track machine people according to mileage value, and therefore, processor is corresponding according to label information
Actual distance value and with the mileage value under the label information synchronization, corresponding deviation can be calculated.Mileage value is
An important factor for determining track machine people's location information adjusts the mileage value that incremental encoder records according to deviation
It is whole, the correction to track machine people's location information may be implemented, to ensure the accuracy of track machine people positioning.
Description of the drawings
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of structural schematic diagram of positioning system suitable for track machine people provided in an embodiment of the present invention；
Fig. 2 is a kind of signal of the installation position of the in-orbit pipeline robot of incremental encoder provided in an embodiment of the present invention
Figure；
Fig. 3 is a kind of flow chart of localization method suitable for track machine people provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, without making creative work, what is obtained is every other by those of ordinary skill in the art
Embodiment belongs to the scope of the present invention.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Next, a kind of positioning system suitable for track machine people that the embodiment of the present invention is provided is discussed in detail.Fig. 1
For a kind of structural schematic diagram of positioning system suitable for track machine people provided in an embodiment of the present invention, which includes
Protruding part 1, the RF tag 2 corresponding with each protruding part 1 being set on 6 predeterminated position of track, are set to
Incremental encoder 4, capacitive approach switch 5, processor on the track machine people 3 and with the capacitive proximity
The RFID reader that switch 5 is connected with the processor.Wherein, processor, incremental encoder 4 and RFID reader are set to
The inside of track machine people 3, so not shown in FIG. 1.
In embodiments of the present invention, break-make that capacitive approach switch 5 is controlled using protruding part 1 is controlled with this
RFID reader reads the opportunity of label information.
By taking RFID reader when capacitive approach switch 5 is switched on is started to work as an example, when the capacitive approach switch 5
When by the protruding part 1, capacitive approach switch 5 can be switched on, and the RFID being connect at this time with capacitive approach switch 5 is read
Writing device can be triggered, and RFID reader is started to work, to read the label of RF tag corresponding with the protruding part 12
Information, and the label information is transferred to the processor.
Since capacitive approach switch 5 can detect any medium, so there is no specific want for the material of protruding part 1
It asks, this is also that a big advantage of the capacitive approach switch 5 as RFID reader trigger switch is used in the embodiment of the present invention.And
And label information is obtained according to capacitive approach switch 5 and RFID reader, it will not dust smog or electrostatic etc. in by environment
It is relatively broad to be applicable in scene for the influence of factor.
Wherein, the shapes and sizes of protruding part 1 can be set according to actual conditions, and the embodiment of the present invention does not limit this
It is fixed.
The number of protruding part 1 can be multiple, and multiple protruding parts 1 can be set in turn in the default position of track 6
It sets.
Wherein, which can be arranged according to fixed interval, also can be spaced multiple protruding parts 1 successively
Fixed range is uniformly arranged on track 6.The predeterminated position can also be set according to practical operation demand, not limited this
It is fixed.
The side of protruding part 1 is provided with RF tag 2, which carries corresponding label information.Accordingly
, it is provided with RFID reader on in-orbit pipeline robot 3, the label information for reading RF tag 2.
Each RF tag 2 has its fixed position on track 6, can be indicated in embodiments of the present invention with distance value
The location information of RF tag 2, the distance value is for indicating from the initial position of track 6 to 2 position of RF tag
Distance.
It, in embodiments of the present invention can be by the ID number in view of each RF tag 2 has its corresponding ID number
Label information as RF tag 2.
In practical applications, the correspondence between ID number and distance value can be stored in the form of a list, and this is right
Relation list is answered to be stored in advance in the processor of track machine people 3, it, can be according to this after getting ID number in order to processor
ID number finds corresponding distance value.
Due to position of the RF tag 2 on track 6 be it is fixed, the distance value corresponding to the ID number is one
The numerical value known in advance, namely the distance value that obtains according to the ID number are the actual distance value that track machine people 3 moves.
It, in embodiments of the present invention, can also be in advance each other than using ID number as the label information of RF tag 2
Label information of the other information as RF tag 2 is written in RF tag 2, for example, be written in RF tag 2 accordingly away from
From value, such RFID reader can directly read the distance value stored in RF tag 2, and the distance value is transferred to
Processor.
In traditional approach, incremental encoder 4 can be arranged on driving wheel 7, it is contemplated that driving wheel 7 will appear skidding
In embodiments of the present invention, incremental encoder 4 can be arranged in order to further enhance the accuracy of mileage value for situation
On the driven wheel 8 of track machine people, the schematic diagram of the installation position of 4 in-orbit pipeline robot 3 of incremental encoder as shown in Fig. 2,
The rotating wheel that right side is relatively large in diameter in Fig. 2 is driving wheel 7, and diameter smaller rotating wheel in left side is driven wheel 8, incremental encoder
4 can be arranged on the driven wheel 8.
Incremental encoder 4 is arranged on the driven wheel 8 of in-orbit pipeline robot 3, can in real time obtain in track machine people 3
Journey value.
By taking incremental encoder 4 is set to driven wheel 8 as an example, the mileage value recorded in incremental encoder 4 reflects rail
The radius of the number of turns that driven wheel 8 rotates in 3 moving process of pipeline robot, driven wheel 8 is fixed numbers, and processor is according to the radius
Value and mileage value, can calculate the moving distance value of track machine people 3.
Moving distance value is to determine an important factor for track machine 3 location information of people, therefore the accuracy of moving distance value
It is to influence an important factor for track machine people 3 is accurately positioned.Radius value of the track machine people 3 according to pre-stored driven wheel 8,
Mileage value can be converted into corresponding moving distance value.Since moving distance value is obtained by way of measuring and calculating,
There may be certain error
In view of the position in orbit of RF tag 2 is known, the distance value obtained according to the label information is rail
The actual distance value that pipeline robot 3 moves.So in embodiments of the present invention, it can be according to the actual distance value to calculating
To moving distance value corrected.
Specifically, processor can be same according to the corresponding actual distance value of the label information and with the label information
When the mileage value inscribed, calculate corresponding deviation, and in being recorded to the incremental encoder 4 according to the deviation
Journey value is adjusted.
It, can be with by RFID reader for example, when robot runs to the position where a RF tag in orbit
Label information is got, by the correspondence list of inquiry tag information and distance value, can know that the label information corresponds to
Actual distance value be 1500 centimetres, according to incremental encoder record the calculated moving distance value of mileage value be 1495 lis
Rice.The deviation of moving distance value and actual distance value is 1500-1495=5 centimetres.Track machine people is from current radio frequency label
Be moved in position this period where next RF tag, can according to the deviation to calculate moving distance value into
Row correction in real time, also adds 5 centimetres of actual distance values as track machine people by calculated moving distance value.Until
When track machine people is moved to next RF tag, then deviation can be recalculated, to start the correction of a new round.
It can be seen from above-mentioned technical proposal position is preset including being set to track suitable for the positioning system of track machine people
RF tag, the RF tag corresponding with each protruding part set, the increasing being set on the track machine people
It amount formula encoder, capacitive approach switch, processor and connect with the capacitive approach switch and the processor
RFID reader；When capacitive approach switch passes through a protruding part, capacitive approach switch is switched on, and RFID is read at this time
It writes device to start to read the label information of RF tag corresponding with the protruding part, and the label information is transferred to the place
Manage device.By cooperating for capacitive approach switch and protruding part, the reading opportunity of RFID reader is controlled, reading is improved
The time precision for taking label information ensure that track machine people is just to read the position at the position where reaching the protruding part
Set corresponding label information.RF tag position in orbit is fixed, and track machine can be obtained according to the label information
The actual distance value of device people movement；Being set to incremental encoder on track machine people can real-time track record robot
Mileage value can calculate the displacement distance of track machine people according to mileage value, and therefore, processor is corresponding according to label information
Actual distance value and with the mileage value under the label information synchronization, corresponding deviation can be calculated.Mileage value is
An important factor for determining track machine people's location information adjusts the mileage value that incremental encoder records according to deviation
It is whole, the correction to track machine people's location information may be implemented, to ensure the accuracy of track machine people positioning.
Track machine people 3 can carry out operation under the hazardous environments such as electric power, chemical industry, for example, being clapped by track machine people 3
Take the photograph the operating condition of equipment under hazardous environment.Under the application environment, when there is deviation in track machine people positioning, track machine
The angle of the camera shooting of people will appear deviation, cause the photo of shooting that may cannot be satisfied demand, or even according to the photo
When being judged, it may appear that the case where erroneous judgement, for this kind of situation, can when the deviations of track machine people 3 are larger, and
When remind staff.
Specifically, can be wifi module be arranged in in-orbit pipeline robot 3；The processor detects that the deviation is more than
When predetermined threshold value, then prompt message is sent to target device by the wifi module.
Target device can be the equipment that staff uses, for example, computer, mobile phone etc..
Can remind staff in time by sending prompt message to target device, track machine people 3 position exist compared with
Big error, in order to which the information that staff acquires track machine people 3 is reasonably judged.
In practical applications, may there are the case where RF tag 2 or RFID reader damage, either radio frequency
The damage of label 2 or RFID reader damage, can all cause track machine people 3 to be lost by label acquisition of information when protruding part 1
It loses.For the ease of reminding staff to overhaul RF tag 2 and RFID reader in time, corresponding prompt can be set
Mechanism.Specifically, processor may determine that the label information for whether receiving the RFID reader transmission in preset time；
If it is not, then sending service information to target device by wifi module.
Preset time can be moved to next RF tag 2 from a RF tag 2 according to track machine people 3 and be spent
Time set.
Start timing, under normal circumstances, track machine when processor receives the label information of RFID reader transmission
People 3 can pass through next RF tag 2 in preset time, namely can receive RFID reader again in the preset time
The label information of transmission, therefore, when processor does not receive the label information of RFID reader transmission in preset time, then
Illustrate that RF tag 2 or RFID reader have been likely to occur failure, processor can send service information to target device at this time.
Staff's RF tag 2 or RFID reader can be reminded to go out in time by sending service information to target device
It now damages, in order to which staff overhauls RF tag 2 and RFID reader, reduces RF tag 2 to the greatest extent
Or RFID reader damage positions the influence generated to track machine people 3.
The mileage value recorded in incremental encoder 4 is an important factor for realization track machine people 3 positions, therefore once
Incremental encoder 4 damages, and needs timely to overhaul it, to reduce the damage of incremental encoder 4 to track machine
Device people 3 positions the influence generated.
Specifically, processor can detect whether that the mileage value of the record of the incremental encoder 4 can be got；If
It is no, then the prompt message that the incremental encoder damages is sent to target device by wifi module.
Under normal operating conditions, processor can get the mileage value of the record of incremental encoder 4 in real time, work as processing
When device can not get the mileage value of the record of incremental encoder 4, then illustrate that the incremental encoder 4 has been likely to occur damage,
At this point, processor can send the prompt message that incremental encoder damages by wifi module to target device.
Staff's increment can be reminded in time by sending the prompt message that incremental encoder damages to target device
Formula encoder 4 damages, and in order to which staff overhauls incremental encoder, reduces increment type to the greatest extent and compiles
Code device damage positions the influence generated to track machine people.
Fig. 3 is a kind of flow chart of localization method suitable for track machine people provided in an embodiment of the present invention, this method
Including：
S301：When capacitive approach switch passes through the protruding part being set on track predeterminated position, obtains RFID and read
Write the label information of device transmission.
In practical applications, capacitive approach switch is arranged on in-orbit pipeline robot, and is connected with RFID reader.Protrusion
Component setting is in orbit, and each protruding part is configured with RF tag.When track machine people passes through the protruding part,
Capacitive approach switch can be triggered, correspondingly, the RFID reader being connect with capacitive approach switch starts to read the radio frequency mark
The label information of label, and the label information is transferred to the processor on track machine people.
S302：According to the corresponding actual distance value of the label information and with the mileage under the label information synchronization
Value, calculates corresponding deviation.
In the embodiment of the present invention, incremental encoder can be arranged on the driven wheel of in-orbit pipeline robot, to obtain phase
To accurate mileage value.
With the movement of track machine people, the mileage value of incremental encoder record can change in real time, after ensureing
The accuracy of continuous correction, needs the mileage value for ensureing to obtain and label information to belong to synchronization, and therefore, processor is marked in acquisition
When signing information, need to obtain the mileage value that the moment incremental encoder is recorded.
In embodiments of the present invention, it needs mileage value and label information being converted into corresponding distance value, in order to calculate
Deviation.
Specifically, moving distance value can be converted into the mileage value according to pre-stored parameter information；Inquiry is pre-
The correspondence of the label information and distance value that first store, to obtain actual distance value corresponding with the label information；From
And the moving distance value and the actual distance value are utilized, calculate the deviation.
Wherein, the mileage value recorded in incremental encoder reflects what driven wheel in track machine people's moving process rotated
The number of turns.
The radius of driven wheel is fixed numbers, and pre-stored parameter information may include the radius value of driven wheel, processing
Device can calculate the moving distance value of track machine people according to the radius value and mileage value.
In embodiments of the present invention, the RF tag of different location, corresponding distance value are different.It is considered that each penetrating
Frequency marking label have its corresponding ID number, therefore, in embodiments of the present invention, can the ID number as label information, pre-establish
The correspondence of ID number and distance value, processor, can by the correspondence of inquiry pre-stored ID number and distance value
Obtain actual distance value corresponding with the ID number.
It, in embodiments of the present invention, can also be in advance each other than using ID number as the label information of RF tag
Label information of the other information as RF tag is written in RF tag, for example, corresponding distance is written in RF tag
Value, such RFID reader can directly read the distance value stored in RF tag, and the distance value is transferred to place
Manage device.
Actual distance value indicates the actual range that track machine people is moved from initial position to current location, displacement distance
Value indicates the displacement distance of calculated track machine people from initial position to current location, in embodiments of the present invention, can be with
Moving distance value is corrected using actual distance value, in the concrete realization, actual distance value and displacement distance can be calculated
The difference of value, the difference are deviation.
S303：The mileage value that incremental encoder records is adjusted according to the deviation.
The mileage value of incremental encoder record is adjusted, after the mileage value is actually converted into distance value,
The distance value is adjusted.
It can be seen from above-mentioned technical proposal position is preset including being set to track suitable for the positioning system of track machine people
RF tag, the RF tag corresponding with each protruding part set, the increasing being set on the track machine people
It amount formula encoder, capacitive approach switch, processor and connect with the capacitive approach switch and the processor
RFID reader；When capacitive approach switch passes through a protruding part, capacitive approach switch is switched on, and RFID is read at this time
It writes device to start to read the label information of RF tag corresponding with the protruding part, and the label information is transferred to the place
Manage device.By cooperating for capacitive approach switch and protruding part, the reading opportunity of RFID reader is controlled, reading is improved
The time precision for taking label information ensure that track machine people is just to read the position at the position where reaching the protruding part
Set corresponding label information.RF tag position in orbit is fixed, and track machine can be obtained according to the label information
The actual distance value of device people movement；Being set to incremental encoder on track machine people can real-time track record robot
Mileage value can calculate the displacement distance of track machine people according to mileage value, and therefore, processor is corresponding according to label information
Actual distance value and with the mileage value under the label information synchronization, corresponding deviation can be calculated.Mileage value is
An important factor for determining track machine people's location information adjusts the mileage value that incremental encoder records according to deviation
It is whole, the correction to track machine people's location information may be implemented, to ensure the accuracy of track machine people positioning.
Optionally, it when processor detects that the deviation is more than predetermined threshold value, can be set to target by wifi module
Preparation send prompt message.
Optionally, processor can also judge the label of the RFID reader transmission whether is received in preset time
Information；If it is not, then sending service information to target device by wifi module.
Optionally, processor can also detect whether that the mileage value of the incremental encoder record can be got；If
It is no, then the prompt message that the incremental encoder damages is sent to target device by wifi module.
It is provided for the embodiments of the invention a kind of positioning system suitable for track machine people above and method carries out
It is discussed in detail.Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For method disclosed in embodiment
For, since it is corresponding with system disclosed in embodiment, so description is fairly simple, related place is defended oneself referring to Account Dept
It is bright.It should be pointed out that for those skilled in the art, without departing from the principle of the present invention,
Can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection domain of the claims in the present invention
It is interior.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Claims (10)
1. a kind of positioning system suitable for track machine people, which is characterized in that convex on track predeterminated position including being set to
Play component, RF tag corresponding with each protruding part, the increment type coding being set on the track machine people
Device, capacitive approach switch, processor and the RFID read-write being connect with the capacitive approach switch and the processor
Device；
When the capacitive approach switch passes through the protruding part, the RFID reader reads the mark of the RF tag
Information is signed, and the label information is transferred to the processor；
The processor be used for according to the corresponding actual distance value of the label information and under the label information synchronization
Mileage value, the mileage value for calculating corresponding deviation, and the incremental encoder being recorded according to the deviation into
Row adjustment.
2. positioning system according to claim 1, which is characterized in that the incremental encoder is set to the track machine
On the driven wheel of device people.
3. positioning system according to claim 1 or 2, which is characterized in that further include wifi module；
When the processor detects that the deviation is more than predetermined threshold value, then sent to target device by the wifi module
Prompt message.
4. positioning system according to claim 3, which is characterized in that the processor is additionally operable to judge in preset time
Whether the label information of the RFID reader transmission is received；If it is not, then being sent to the target device by wifi module
Service information.
5. positioning system according to claim 3, which is characterized in that the processor is additionally operable to detect whether to obtain
The mileage value recorded to the incremental encoder；If it is not, then sending the increment to the target device by wifi module
The prompt message of formula encoder damage.
6. a kind of localization method suitable for track machine people, which is characterized in that including：
When capacitive approach switch passes through the protruding part being set on track predeterminated position, RFID reader transmission is obtained
Label information；
According to the corresponding actual distance value of the label information and with the mileage value under the label information synchronization, calculate
Corresponding deviation；
The mileage value that incremental encoder records is adjusted according to the deviation.
7. localization method according to claim 6, which is characterized in that it is described according to the corresponding reality of the label information away from
From value and with the mileage value under the label information synchronization, calculating corresponding deviation includes：
According to pre-stored parameter information, the mileage value is converted into moving distance value；
The correspondence for inquiring pre-stored label information and distance value, to obtain reality corresponding with the label information
Distance value；
Using the moving distance value and the actual distance value, the deviation is calculated.
8. localization method according to claim 6, which is characterized in that further include：
When detecting that the deviation is more than predetermined threshold value, prompt message is sent to target device by wifi module.
9. localization method according to claim 6, which is characterized in that further include：
Judge the label information that the RFID reader transmits whether is received in preset time；
If it is not, then sending service information to target device by wifi module.
10. according to the localization method described in claim 6-9 any one, which is characterized in that further include：
It detects whether that the mileage value that the incremental encoder records can be got；
If it is not, then sending the prompt message that the incremental encoder damages to target device by wifi module.
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| CN112666938A (en) * | 2020-12-08 | 2021-04-16 | 苏州光格科技股份有限公司 | Intelligent compensation method for position deviation generated by operation of inspection robot |
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